It sounds like your parents were insured under a Marketplace insurance plan. They should have received a Form 1095-A to claim the Premium Tax Credit they may be entitled to on their tax return. They will need to file a tax return. Please see where do I enter my 1095-A for steps to assist your parents in preparing their tax return.
Since they are claiming the Premium Tax Credit, they cannot be claimed as dependents on your tax return. One of the requirements for claiming the credit is that you cannot be claimed as a dependent on someone else's return. Please see What is the Premium Tax Credit for more details.
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